CN110488873A - A kind of plant protection drone operation flight course planning method and system - Google Patents
A kind of plant protection drone operation flight course planning method and system Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- H—ELECTRICITY
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- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
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- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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Abstract
The invention belongs to plant protection drone operation flight course planning technical fields, a kind of plant protection drone operation flight course planning method and system are disclosed, plant protection drone operation flight course planning system includes solar powered module, video monitoring module, main control module, wireless remote control module, flight module, course line determining module, navigation module, sprinkling module, obstacle avoidance module, evaluation module, cloud service module and display module.The present invention reduces the accident rate of plant protection drone by obstacle avoidance module, has also ensured the personal safety and property safety of people；Simultaneously, effectively and accurately effective spray rate of plant protection drone is calculated by evaluation module, drain spray rate, resprays the spray effects parameters such as rate, length of shift hourly efficiency, pure spray date hourly efficiency, time availability, serviceability ratio and labor productivity, to realize that the development to the operating efficiency of plant protection drone and the evaluation of effect, for the subsequent improvement of plant protection drone lays the foundation.
Description
Technical field
The invention belongs to plant protection drone operation flight course planning technical fields more particularly to a kind of plant protection drone operation to navigate
Line gauge draws method system.
Background technique
Plant protection drone also known as unmanned vehicle, as the term suggests it is unmanned the flying for agriculture and forestry plant protection operation
Machine, the type unmanned aerial vehicle fly control, spraying mechanism three parts group by flying platform (fixed-wing, helicopter, Multi-axis aircraft), navigation
At flying control by ground remote control or navigation, Lai Shixian spraying operation can spray medicament, seed, pulvis etc..It is unmanned small
Type helicopter have operation height it is low, drift is few, can hovering, be not necessarily to dedicated landing airport, rotor generate downdraught
Help to increase spray to the penetrability of crop, control efficiency is high, and long-distance remote control operation, spraying operation personnel avoid exposure
In the danger of pesticide, many advantages, such as improving spraying operation safety.In addition, electric unmanned helicopter spray application is using spray
Mist spray pattern can at least save 50% Pesticide use amount, save 90% water consumption, this will significantly reduce money
Source cost.For electronic unmanned plane compared with oil is dynamic, overall dimensions are small, light-weight, allowance for depreciation is lower, fundamental operation cost of labor not
High, easily maintenance.However, existing plant protection drone is easy to collide with barrier in landing, it will cause certain property
Loss；Meanwhile unmanned aerial vehicle cannot evaluate its operation effectiveness and efficiency in plant protection operation, easy influence is produced into
This and farmland increase income situation.
In conclusion problem of the existing technology is:
Existing plant protection drone is easy to collide with barrier in landing, it will causes certain property loss；Together
When, unmanned aerial vehicle cannot evaluate its operation effectiveness and efficiency in plant protection operation, be easy to influence production cost and farmland
Increase income situation.
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of plant protection drone operation flight course planning methods.
The invention is realized in this way a kind of plant protection drone operation flight course planning system, comprising:
Solar powered module is connect with main control module, for being converted solar energy into electrical energy by solar panel
For plant protection drone power supply；
Video monitoring module is connect with main control module, for being regarded by video camera to plant protection drone working scene
Frequency monitors；
Main control module is determined with solar powered module, video monitoring module, wireless remote control module, flight module, course line
Module, navigation module, sprinkling module, obstacle avoidance module, evaluation module, cloud service module, display module connection, for passing through master control
Chip controls modules work normally；
Wireless remote control module is connect with main control module, for equipment by wireless communication carry out wireless remote control plant protection nobody
Machine operation；
Flight module, connect with main control module, for carrying out flight operation by propeller；
Course line determining module, connect with main control module, for determining plant protection drone operation course line；
The course line determining module include bluetooth course line monitor composition bluetooth monitoring network, plant protection drone course line it is true
Determine chip；
All job areas need to plant in the job area that the bluetooth course line monitor is used to acquire by network
The signal strength data of guarantor is sent to the plant protection drone course line and determines chip；
The plant protection drone course line determines chip for calculating job area position and inciting somebody to action by network service interface
Data are supplied to navigation module；
The job area by built Bluetooth module connect navigation module and to navigation module provide gait, posture,
Direction of travel data；
The bluetooth course line monitor includes low-power consumption bluetooth detection chip and network module, job area embedded with bluetooth
Module regularly sends broadcast data, and the low-power consumption bluetooth detection chip is filtered out by the bluetooth equipment model around scanning
The bluetooth data packets of job area obtain job area bluetooth signal intensity；
The plant protection drone course line determine the job area that chip sends each bluetooth course line monitor UUID and
The data pair of signal strength carry out data update as major key according to UUID；It needs to carry out positioning meter to the equipment of some UUID
It when calculation, just takes out the UUID and corresponds to the newest signal strength data sent of each bluetooth course line monitor, carry out course line and determine calculating；
Navigation module is connect with main control module, for carrying out operation according to determining course line by omniselector；The navigation
Module includes Beidou plant protection drone server, computer and control assembly, plant protection drone display screen, Beidou plant protection drone
Server and plant protection drone connection communication, to send instruction and receive data, computer and control assembly to send control
System instruction, plant protection drone display screen is to receive parsing and statistical data, realize real-time course line on-stream monitoring；The omniselector
It is provided with multiple, is distributed in different zones, including GNSS signal receiving module, data processing conversion module；The data processing
Conversion module is connect with Beidou plant protection drone server, GNSS signal receiving module, and Beidou plant protection drone server passes through
RDSS communication link, which receives downlink signal and exports, gives data processing conversion module, and data processing conversion module receives downlink signal
Content of Communication is parsed afterwards, parameter configuration is carried out to plant protection drone as requested, and navigation data is subjected to layout, passes through north
Bucket plant protection drone server and RDSS link are sent to main control module；
Sprinkling module is connect with main control module, for carrying out spraying operation to farmland by spraying mechanism；
Obstacle avoidance module is connect with main control module, for hide obstacle by avoidance mechanism；By in plant protection
Height between the range unit measurement plant protection drone installed below drone body and level point；By in plant protection drone
The image for the video camera acquisition plant protection drone drop zone installed below ontology；
Evaluation module is connect with main control module, for being evaluated by assessment process plant protection drone operational performance；
Airborne job information acquisition device is recorded into the working width of plant protection drone by assessment process, acquires flying for plant protection drone
Working width, the flight rail of the coordinate of row tracing point and the operation length of shift of statistics plant protection drone and plant protection drone
The coordinate and operation length of shift of mark point are sent to Cloud Server；
Cloud service module, connect with main control module, for by Cloud Server to plant protection drone work data at
Reason；
The cloud service module is provided with multiple, is distributed in different zones, including GNSS signal receiving module, data processing
Conversion module；The data processing conversion module is connect with Beidou plant protection drone server, GNSS signal receiving module, Beidou
Plant protection drone server is received downlink signal and exported by RDSS communication link gives data processing conversion module, data processing
Conversion module parses Content of Communication after receiving downlink signal, carries out parameter configuration to plant protection drone as requested, and will lead
Data of navigating carry out layout, are sent to main control module by Beidou plant protection drone server and RDSS link；
Display module is connect with main control module, for by display display monitor plant protection drone operation video data,
Performance appraisal data.
Further, the navigation module carries out in operation according to determining course line, is connected to Beidou plant protection drone server,
Instruction is issued as desired, and instruction, through RDSS link, is to the monitoring point of corresponding distal end by Beidou plant protection drone server
The Beidou plant protection drone server of the specified ID of system is sent；
After Beidou plant protection drone server receives communication, input data handles conversion module, by data processing modulus of conversion
Block is parsed according to interface protocol, according to parsing content, is issued control instruction to corresponding equipment, is carried out parameter setting, navigation
Terminal exports navigation data to data processing conversion module as requested, and data processing conversion module carries out parsing volume to its content
Row, then main control module is sent to through RDSS link by Beidou plant protection drone server；
It after Beidou plant protection drone server receives Content of Communication, is parsed according to agreement, and by the meter of each region
It calculates statistical result and carries out real-time display.
Another object of the present invention is to provide a kind of plant protection drone operation flight course planning method, comprising the following steps:
Step 1, by solar powered module using solar panel convert solar energy into electrical energy for plant protection nobody
Machine power supply；Video monitoring is carried out to plant protection drone working scene using video camera by video monitoring module；
Step 2, main control module carry out wireless remote control plant protection drone using wireless telecom equipment by wireless remote control module
Operation；
Step 3 carries out flight operation using propeller by flight module；By course line determining module determine plant protection without
Man-machine operation course line；Operation is carried out according to determining course line using omniselector by navigation module；
Step 4 carries out spraying operation to farmland using spraying mechanism by sprinkling module；It is utilized and is kept away by obstacle avoidance module
Barrier mechanism hide to obstacle；
Step 5 evaluates plant protection drone operational performance by evaluation module Utilization assessment program；
Step 6 is handled plant protection drone work data using Cloud Server by cloud service module；
Step 7 utilizes display display monitoring plant protection drone operation video data, performance appraisal by display module
Data.
Further, the obstacle avoidance module barrier-avoiding method is as follows:
1) it is measured between plant protection drone and level point by the range unit installed below plant protection drone ontology
Height h；The image of plant protection drone drop zone is acquired by the video camera installed below plant protection drone ontology；
2) image processing module in plant protection drone carries out data parsing to acquired image；
3) real area of plant protection drone safe falling in drop zone is determined；
4) operator (owner) is reminded to remove in drop zone by the loudspeaker installed above plant protection drone ontology
Barrier；
5) plant protection drone safe falling.
Further, the takeoff point of the level point of the plant protection drone and plant protection drone be same point, the plant protection without
The region of taking off of man-machine drop zone and plant protection drone is the same area.
Further, in the step 1), plant protection drone is independently maked a return voyage the hovering flight at away from level point H height, to 3s-
After 5s, range unit work measures the height h between plant protection drone and level point, compares algorithm comparison h and H by numerical value,
If h is less than H, illustrating there is barrier at the level point of plant protection drone, plant protection drone is unable to safe falling, if h is equal to H,
Illustrate the clear at the level point of plant protection drone.
Further, the evaluation module evaluation method is as follows:
(1) airborne job information acquisition device is recorded by the working width of plant protection drone by assessment process, acquisition is planted
It protects the coordinate of the flight path point of unmanned plane and counts the operation length of shift of plant protection drone and the operation of plant protection drone
Breadth, the coordinate of flight path point and operation length of shift are sent to Cloud Server；
(2) Cloud Server is according to the working width of plant protection drone, the coordinate of flight path point and operation length of shift meter
It can be regarded as the spray area between corresponding two tracing points of adjacent operation moment in industry length of shift；
(3) total spray area in the result assignment statistics length of shift that Cloud Server is calculated according to step (2), and according to
Total spray area of plant protection drone calculates effective spray rate of plant protection drone, drain spray rate, resprays rate, the life of length of shift hour
Yield, pure spray date hourly efficiency, time availability, serviceability ratio and labor productivity.
Further, the step (1) includes:
(a) the airborne job information acquisition device includes positioning antenna, locator and main control chip；The locator is logical
Cross two positioning antennas acquire respectively plant protection drone spray boom both ends coordinate and be sent to main control chip, main control chip root
The coordinate of the flight path point of plant protection drone, the flight path point are calculated according to the coordinate at the both ends of the spray boom of plant protection drone
Coordinate be two positioning antenna detection two coordinate points lines midpoint coordinates；
(b) working condition of the main control unit acquisition plant protection drone inside liquid pump of the airborne job information acquisition device
To count the operation length of shift of plant protection drone；
(c) working width of the airborne job information acquisition device record plant protection drone and the work by plant protection drone
Industry breadth, the coordinate of flight path point and operation length of shift are sent to Cloud Server.
Further, the step (2) includes:
According to the extending direction and flight path of the spray boom of each operation moment plant protection drone in operation length of shift
Angle, the tracing point pair at coordinate each interior operation moment of calculating operation length of shift of working width and flight path point of line
The coordinate for the two sprinkling endpoints answered；
The sprinkling endpoint of adjacent operation moment corresponding two tracing points, obtains quadrangle in connection operation length of shift
Spray pattern calculates the area of the spray pattern of quadrangle to obtain the adjacent operation moment corresponding two in the shift activity duration
Spray area between a tracing point.
Advantages of the present invention and good effect are as follows:
The present invention being used in combination according to range unit and video camera by obstacle avoidance module, accurate judgement plant protection drone exists
Safety when drop zone is landed also has ensured the people of people to reduce the accident rate of plant protection drone
Body safety and property safety；Meanwhile effective spray rate, the leakage of plant protection drone effectively and are accurately calculated by evaluation module
Spray rate resprays rate, length of shift hourly efficiency, pure spray date hourly efficiency, time availability, serviceability ratio
It to realize to the operating efficiency of plant protection drone and the evaluation of effect is plant protection with the spray effects parameter such as labor productivity
The development of the subsequent improvement of unmanned plane lays the foundation.
Course line determining module of the invention includes the bluetooth monitoring network of bluetooth course line monitor composition, plant protection drone boat
Line determines chip；All job areas need in the job area that the bluetooth course line monitor is used to acquire by network
The signal strength data of plant protection is sent to the plant protection drone course line and determines chip；The plant protection drone course line determines chip
For calculating job area position and serving data to navigation module by network service interface；The job area is logical
It crosses built Bluetooth module connection navigation module and provides gait, posture, direction of travel data to navigation module；The bluetooth boat
Line monitor includes low-power consumption bluetooth detection chip and network module, and job area built Bluetooth module regularly sends broadcast number
According to the low-power consumption bluetooth detection chip filters out the blue-teeth data of job area by the bluetooth equipment model around scanning
Packet, obtains job area bluetooth signal intensity；The plant protection drone course line determines that chip sends out each bluetooth course line monitor
The UUID of the job area sent and the data pair of signal strength carry out data update as major key according to UUID；It needs to some
When the equipment of UUID carries out location Calculation, just takes out the UUID and correspond to the newest signal strength number sent of each bluetooth course line monitor
According to, realize course line determine.
Navigation module of the invention includes Beidou plant protection drone server, computer and control assembly, plant protection drone
Display screen, Beidou plant protection drone server and plant protection drone connection communication, to send instruction and receive data, plant protection without
Man-machine to be equipped with computer and control assembly and plant protection drone display screen, computer and control assembly refer to send control
It enables, plant protection drone display screen is to receive parsing and statistical data, realize real-time course line on-stream monitoring；The omniselector setting
Have multiple, is distributed in different zones, including GNSS signal receiving module, data processing conversion module；The data processing conversion
Module is connect with Beidou plant protection drone server, GNSS signal receiving module, and Beidou plant protection drone server passes through RDSS
Communication link, which receives downlink signal and exports, gives data processing conversion module, and data processing conversion module receives right after downlink signal
Content of Communication parsing, carries out parameter configuration to plant protection drone as requested, and navigation data is carried out layout, is planted by Beidou
It protects unmanned plane server and RDSS link is sent to main control module, realize intelligent operation.
Detailed description of the invention
Fig. 1 is plant protection drone operation flight course planning method flow diagram provided in an embodiment of the present invention.
Fig. 2 is plant protection drone operation flight course planning system structure diagram provided in an embodiment of the present invention.
In figure: 1, solar powered module；2, video monitoring module；3, main control module；4, wireless remote control module；5, it flies
Module；6, course line determining module；7, navigation module；8, sprinkling module；9, obstacle avoidance module；10, evaluation module；11, cloud service mould
Block；12, display module.
Fig. 3 is determining module schematic diagram in course line provided in an embodiment of the present invention.
In figure: 6-1, bluetooth course line monitor；6-2, bluetooth monitoring network；6-3, plant protection drone course line determine chip.
Fig. 4 is navigation module schematic diagram provided in an embodiment of the present invention.
In figure: 7-1, Beidou plant protection drone server；7-2, computer and control assembly；7-3, plant protection drone are shown
Screen.
Specific embodiment
In order to further understand the content, features and effects of the present invention, the following examples are hereby given, and cooperate attached drawing
Detailed description are as follows.
Existing plant protection drone is easy to collide with barrier in landing, it will causes certain property loss；Together
When, unmanned aerial vehicle cannot evaluate its operation effectiveness and efficiency in plant protection operation, be easy to influence production cost and farmland
Increase income situation.
To solve the above problems, being explained in detail with reference to the accompanying drawing to structure of the invention.
As shown in Figure 1, plant protection drone operation flight course planning method provided by the invention the following steps are included:
S101 is converted solar energy into electrical energy by solar powered module using solar panel as plant protection drone
Power supply.Video monitoring is carried out to plant protection drone working scene using video camera by video monitoring module.
S102, main control module carry out wireless remote control plant protection drone work using wireless telecom equipment by wireless remote control module
Industry.
S103 carries out flight operation using propeller by flight module.By course line determining module determine plant protection nobody
Machine operation course line.Operation is carried out according to determining course line using omniselector by navigation module.
S104 carries out spraying operation to farmland using spraying mechanism by sprinkling module.Avoidance is utilized by obstacle avoidance module
Mechanism hide to obstacle.
S105 evaluates plant protection drone operational performance by evaluation module Utilization assessment program.
S106 is handled plant protection drone work data using Cloud Server by cloud service module.
S107 utilizes display display monitoring plant protection drone operation video data, performance appraisal number by display module
According to.
As shown in Fig. 2, plant protection drone operation flight course planning system provided in an embodiment of the present invention includes: solar powered
Module 1, video monitoring module 2, main control module 3, wireless remote control module 4, flight module 5, course line determining module 6, navigation module
7, sprinkling module 8, obstacle avoidance module 9, evaluation module 10, cloud service module 11, display module 12.
Solar powered module 1 is connect with main control module 3, for converting solar energy into electricity by solar panel
It can be that plant protection drone is powered.
Video monitoring module 2 is connect with main control module 3, for being carried out by video camera to plant protection drone working scene
Video monitoring.
Main control module 3, with solar powered module 1, video monitoring module 2, wireless remote control module 4, flight module 5, boat
Line determining module 6, navigation module 7, sprinkling module 8, obstacle avoidance module 9, evaluation module 10, cloud service module 11, display module 12
Connection is worked normally for controlling modules by main control chip.
Wireless remote control module 4 is connect with main control module 3, for equipment by wireless communication carry out wireless remote control plant protection without
Man-machine operation.
Flight module 5 is connect with main control module 3, for carrying out flight operation by propeller.
Course line determining module 6 is connect with main control module 3, for determining plant protection drone operation course line.
Navigation module 7 is connect with main control module 3, for carrying out operation according to determining course line by omniselector.
Sprinkling module 8 is connect with main control module 3, for carrying out spraying operation to farmland by spraying mechanism.
Obstacle avoidance module 9 is connect with main control module 3, for hide obstacle by avoidance mechanism.
Evaluation module 10 is connect with main control module 3, for being commented by assessment process plant protection drone operational performance
Valence.
Cloud service module 11 is connect with main control module 3, for being carried out by Cloud Server to plant protection drone work data
Processing.
Display module 12 is connect with main control module 3, for showing monitoring plant protection drone operation video counts by display
According to, performance appraisal data.
As shown in figure 3, course line determining module 6, bluetooth monitoring network 6-2, plant including bluetooth course line monitor 6-1 composition
It protects unmanned plane course line and determines chip 6-3.
Institute in the job area that the bluetooth course line monitor 6-1 is used to acquire by bluetooth monitoring network 6-2
There is job area that the signal strength data of plant protection is needed to be sent to the plant protection drone course line and determines chip；
The plant protection drone course line determines chip 6-3 for calculating job area position and passing through network service interface
Serve data to navigation module.
The job area by built Bluetooth module connect navigation module and to navigation module provide gait, posture,
Direction of travel data.
The bluetooth course line monitor includes low-power consumption bluetooth detection chip and network module, job area embedded with bluetooth
Module regularly sends broadcast data, and the low-power consumption bluetooth detection chip is filtered out by the bluetooth equipment model around scanning
The bluetooth data packets of job area obtain job area bluetooth signal intensity.
The plant protection drone course line determine the job area that chip sends each bluetooth course line monitor UUID and
The data pair of signal strength carry out data update as major key according to UUID；It needs to carry out positioning meter to the equipment of some UUID
It when calculation, just takes out the UUID and corresponds to the newest signal strength data sent of each bluetooth course line monitor, carry out course line and determine calculating.
As shown in figure 4, navigation module 7 includes Beidou plant protection drone server 7-1, computer and control assembly 7-2, plants
Protect unmanned plane display screen 7-3, Beidou plant protection drone server 7-1 and plant protection drone connection communication, to send instruction and
Data are received, navigation module is equipped with computer and control assembly 7-2 and plant protection drone display screen 7-3, computer and control
Component is to send control instruction, and plant protection drone display screen 7-3 is to receive parsing and statistical data, realize that real-time course line is made
Industry monitoring；The omniselector is provided with multiple, is distributed in different zones, including GNSS signal receiving module, data processing conversion
Module；The data processing conversion module is connect with Beidou plant protection drone server, GNSS signal receiving module, Beidou plant protection
Unmanned plane server is received downlink signal and exported by RDSS communication link gives data processing conversion module, data processing conversion
Module is received and is parsed after downlink signal to Content of Communication, carries out parameter configuration to plant protection drone as requested, and by the number that navigates
According to layout is carried out, main control module is sent to by Beidou plant protection drone server and RDSS link.
The navigation module carries out in operation according to determining course line, is connected to Beidou plant protection drone server, according to need
Sending is asked to instruct, instruction, through RDSS link, the finger of subsystem is monitored to corresponding distal end by Beidou plant protection drone server
The Beidou plant protection drone server for determining ID is sent.
After Beidou plant protection drone server receives communication, input data handles conversion module, by data processing modulus of conversion
Block is parsed according to interface protocol, according to parsing content, is issued control instruction to corresponding equipment, is carried out parameter setting, navigation
Terminal exports navigation data to data processing conversion module as requested, and data processing conversion module carries out parsing volume to its content
Row, then main control module is sent to through RDSS link by Beidou plant protection drone server.
It after Beidou plant protection drone server receives Content of Communication, is parsed according to agreement, and by the meter of each region
It calculates statistical result and carries out real-time display.
The invention will be further described combined with specific embodiments below.
Embodiment 1
9 barrier-avoiding method of obstacle avoidance module provided by the invention is as follows:
1) it is measured between plant protection drone and level point by the range unit installed below plant protection drone ontology
Height h.The image of plant protection drone drop zone is acquired by the video camera installed below plant protection drone ontology.
2) image processing module in plant protection drone carries out data parsing to acquired image.
3) real area of plant protection drone safe falling in drop zone is determined.
4) operator (owner) is reminded to remove in drop zone by the loudspeaker installed above plant protection drone ontology
Barrier.
5) plant protection drone safe falling.
The takeoff point of the level point of plant protection drone provided by the invention and plant protection drone is same point, the plant protection without
The region of taking off of man-machine drop zone and plant protection drone is the same area.
In step 1) provided by the invention, plant protection drone is independently maked a return voyage the hovering flight at away from level point H height, to
After 3s-5s, range unit work measures the height h between plant protection drone and level point, compares algorithm comparison h by numerical value
And H illustrates there is barrier at the level point of plant protection drone, plant protection drone is unable to safe falling, if h etc. if h is less than H
In H, illustrate the clear at the level point of plant protection drone.
Embodiment 2
Evaluation module 10 provided by the invention evaluation method is as follows:
(1) airborne job information acquisition device is recorded by the working width of plant protection drone by assessment process, acquisition is planted
It protects the coordinate of the flight path point of unmanned plane and counts the operation length of shift of plant protection drone and the operation of plant protection drone
Breadth, the coordinate of flight path point and operation length of shift are sent to Cloud Server.
(2) Cloud Server is according to the working width of plant protection drone, the coordinate of flight path point and operation length of shift meter
It can be regarded as the spray area between corresponding two tracing points of adjacent operation moment in industry length of shift.
(3) total spray area in the result assignment statistics length of shift that Cloud Server is calculated according to step (2), and according to
Total spray area of plant protection drone calculates effective spray rate of plant protection drone, drain spray rate, resprays rate, the life of length of shift hour
Yield, pure spray date hourly efficiency, time availability, serviceability ratio and labor productivity.
Step (1) provided by the invention includes:
(a) the airborne job information acquisition device includes positioning antenna, locator and main control chip.The locator is logical
Cross two positioning antennas acquire respectively plant protection drone spray boom both ends coordinate and be sent to main control chip, main control chip root
The coordinate of the flight path point of plant protection drone, the flight path point are calculated according to the coordinate at the both ends of the spray boom of plant protection drone
Coordinate be two positioning antenna detection two coordinate points lines midpoint coordinates.
(b) working condition of the main control unit acquisition plant protection drone inside liquid pump of the airborne job information acquisition device
To count the operation length of shift of plant protection drone.
(c) working width of the airborne job information acquisition device record plant protection drone and the work by plant protection drone
Industry breadth, the coordinate of flight path point and operation length of shift are sent to Cloud Server.
Step (2) provided by the invention includes:
According to the extending direction and flight path of the spray boom of each operation moment plant protection drone in operation length of shift
Angle, the tracing point pair at coordinate each interior operation moment of calculating operation length of shift of working width and flight path point of line
The coordinate for the two sprinkling endpoints answered.
The sprinkling endpoint of adjacent operation moment corresponding two tracing points, obtains quadrangle in connection operation length of shift
Spray pattern calculates the area of the spray pattern of quadrangle to obtain the adjacent operation moment corresponding two in the shift activity duration
Spray area between a tracing point.
In the above-described embodiments, can come wholly or partly by software, hardware, firmware or any combination thereof real
It is existing.When using entirely or partly realizing in the form of a computer program product, the computer program product include one or
Multiple computer instructions.When loading on computers or executing the computer program instructions, entirely or partly generate according to
Process described in the embodiment of the present invention or function.The computer can be general purpose computer, special purpose computer, computer network
Network or other programmable devices.The computer instruction may be stored in a computer readable storage medium, or from one
Computer readable storage medium is transmitted to another computer readable storage medium, for example, the computer instruction can be from one
A web-site, computer, server or data center pass through wired (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)
Or wireless (such as infrared, wireless, microwave etc.) mode is carried out to another web-site, computer, server or data center
Transmission).The computer-readable storage medium can be any usable medium or include one that computer can access
The data storage devices such as a or multiple usable mediums integrated server, data center.The usable medium can be magnetic Jie
Matter, (for example, floppy disk, hard disk, tape), optical medium (for example, DVD) or semiconductor medium (such as solid state hard disk Solid
State Disk (SSD)) etc..
The above is only the preferred embodiments of the present invention, and is not intended to limit the present invention in any form,
Any simple modification made to the above embodiment according to the technical essence of the invention, equivalent variations and modification, belong to
In the range of technical solution of the present invention.
Claims (10)
1. a kind of plant protection drone operation flight course planning system, which is characterized in that the plant protection drone operation flight course planning system
System includes:
Solar powered module is connect with main control module, is planted for being converted solar energy into electrical energy by solar panel
Protect unmanned plane power supply；
Video monitoring module is connect with main control module, for carrying out video prison to plant protection drone working scene by video camera
Control；
Main control module determines mould with solar powered module, video monitoring module, wireless remote control module, flight module, course line
Block, navigation module, sprinkling module, obstacle avoidance module, evaluation module, cloud service module, display module connection, for passing through master control core
Piece controls modules and works normally；
Wireless remote control module is connect with main control module, carries out wireless remote control plant protection drone work for equipment by wireless communication
Industry；
Flight module, connect with main control module, for carrying out flight operation by propeller；
Course line determining module, connect with main control module, for determining plant protection drone operation course line；The course line determining module packet
Include the bluetooth monitoring network of bluetooth course line monitor composition, plant protection drone course line determines chip；The bluetooth course line monitoring
Device be used for by network by all job areas in the job area acquired need plant protection signal strength data be sent to it is described
Plant protection drone course line determines chip；The plant protection drone course line determines chip for calculating job area position and passing through
Network service interface serves data to navigation module；The job area connects navigation module simultaneously by built Bluetooth module
Gait, posture, direction of travel data are provided to navigation module；The bluetooth course line monitor includes low-power consumption bluetooth detection core
Piece and network module, job area built Bluetooth module regularly send broadcast data, and the low-power consumption bluetooth detection chip passes through
Bluetooth equipment model around scanning, filters out the bluetooth data packets of job area, obtains job area bluetooth signal intensity；Institute
State the UUID and signal strength of job area that plant protection drone course line determines that chip sends each bluetooth course line monitor
Data pair carry out data update as major key according to UUID；When needing to carry out location Calculation to the equipment of some UUID, just take out
The UUID corresponds to the newest signal strength data sent of each bluetooth course line monitor, carries out course line and determines calculating；
Navigation module is connect with main control module, for carrying out operation according to determining course line by omniselector；The navigation module
Including Beidou plant protection drone server, computer and control assembly, plant protection drone display screen, Beidou plant protection drone service
Device and plant protection drone connection communication, to send instruction and receive data, computer and control assembly refer to send control
It enables, plant protection drone display screen is to receive parsing and statistical data, realize real-time course line on-stream monitoring；The omniselector setting
Have multiple, is distributed in different zones, including GNSS signal receiving module, data processing conversion module；The data processing conversion
Module is connect with Beidou plant protection drone server, GNSS signal receiving module, and Beidou plant protection drone server passes through RDSS
Communication link, which receives downlink signal and exports, gives data processing conversion module, and data processing conversion module receives right after downlink signal
Content of Communication parsing, carries out parameter configuration to plant protection drone as requested, and navigation data is carried out layout, is planted by Beidou
It protects unmanned plane server and RDSS link is sent to main control module；
Sprinkling module is connect with main control module, for carrying out spraying operation to farmland by spraying mechanism；
Obstacle avoidance module is connect with main control module, for hide obstacle by avoidance mechanism；By plant protection nobody
Height between the range unit measurement plant protection drone installed below machine ontology and level point；By in plant protection drone ontology
The image of the video camera acquisition plant protection drone drop zone of lower section installation；
Evaluation module is connect with main control module, for being evaluated by assessment process plant protection drone operational performance；Pass through
Airborne job information acquisition device is recorded the working width of plant protection drone, acquires the flight rail of plant protection drone by assessment process
Working width, the flight path point of the coordinate of mark point and the operation length of shift of statistics plant protection drone and plant protection drone
Coordinate and operation length of shift be sent to Cloud Server；
Cloud service module, connect with main control module, for being handled by Cloud Server plant protection drone work data；
Display module is connect with main control module, for showing monitoring plant protection drone operation video data, performance by display
Evaluate data.
2. plant protection drone operation flight course planning system as described in claim 1, which is characterized in that the navigation module according to
Determining course line carries out in operation, is connected to Beidou plant protection drone server, issues instruction as desired, and instruction is planted by Beidou
Unmanned plane server is protected through RDSS link, to the Beidou plant protection drone server of the specified ID of corresponding distal end monitoring subsystem
It sends；
After Beidou plant protection drone server receives communication, input data handles conversion module, is pressed by data processing conversion module
It is parsed according to interface protocol, according to parsing content, issues control instruction to corresponding equipment, carry out parameter setting, navigation terminal
Navigation data is exported to data processing conversion module as requested, data processing conversion module carries out parsing layout to its content,
Main control module is sent to through RDSS link by Beidou plant protection drone server again；
It after Beidou plant protection drone server receives Content of Communication, is parsed according to agreement, and the calculating of each region is united
It counts result and carries out real-time display.
3. a kind of plant protection drone operation flight course planning side of plant protection drone operation flight course planning system as described in claim 1
Method, which is characterized in that the plant protection drone operation flight course planning method the following steps are included:
Step 1 is converted solar energy into electrical energy by solar powered module using solar panel as plant protection drone confession
Electricity；Video monitoring is carried out to plant protection drone working scene using video camera by video monitoring module；
Step 2, main control module carry out wireless remote control plant protection drone work using wireless telecom equipment by wireless remote control module
Industry；
Step 3 carries out flight operation using propeller by flight module；Plant protection drone is determined by course line determining module
Operation course line；Operation is carried out according to determining course line using omniselector by navigation module；
Step 4 carries out spraying operation to farmland using spraying mechanism by sprinkling module；Avoidance machine is utilized by obstacle avoidance module
Structure hide to obstacle；
Step 5 evaluates plant protection drone operational performance by evaluation module Utilization assessment program；
Step 6 is handled plant protection drone work data using Cloud Server by cloud service module；
Step 7 utilizes display display monitoring plant protection drone operation video data, performance appraisal data by display module.
4. plant protection drone operation flight course planning method as described in claim 1, which is characterized in that described to keep away in step 4
Barrier module barrier-avoiding method is as follows:
1) height between plant protection drone and level point is measured by the range unit installed below plant protection drone ontology
h；The image of plant protection drone drop zone is acquired by the video camera installed below plant protection drone ontology；
2) image processing module in plant protection drone carries out data parsing to acquired image；
3) real area of plant protection drone safe falling in drop zone is determined；
4) operator is reminded to remove the barrier in drop zone by the loudspeaker installed above plant protection drone ontology；
5) plant protection drone safe falling.
5. plant protection drone operation flight course planning method as claimed in claim 4, which is characterized in that the plant protection drone
The takeoff point of level point and plant protection drone is same point, the drop zone of the plant protection drone and taking off for plant protection drone
Region is the same area；
In the step 1), plant protection drone is independently maked a return voyage the hovering flight at away from level point H height, after 3s-5s, ranging dress
Work is set, the height h between plant protection drone and level point is measured, algorithm comparison h and H is compared by numerical value, if h is less than H, is said
Bright to have barrier at the level point of plant protection drone, plant protection drone is unable to safe falling, if h be equal to H, illustrate plant protection without
Clear at man-machine level point.
6. plant protection drone operation flight course planning method as claimed in claim 3, which is characterized in that in step 5, institute's commentary
Valence module evaluation method is as follows:
(1) by assessment process by airborne job information acquisition device record plant protection drone working width, acquisition plant protection without
The operation width of the coordinate of man-machine flight path point and the operation length of shift of statistics plant protection drone and plant protection drone
The wide, coordinate of flight path point and operation length of shift are sent to Cloud Server；
(2) Cloud Server calculates according to the working width of plant protection drone, the coordinate of flight path point and operation length of shift and makees
Spray area in industry length of shift between adjacent operation moment corresponding two tracing points；
(3) total spray area in the result assignment statistics length of shift that Cloud Server is calculated according to step (2), and according to plant protection
Total spray area of unmanned plane calculates effective spray rate of plant protection drone, drain spray rate, resprays rate, the production of length of shift hour
Rate, pure spray date hourly efficiency, time availability, serviceability ratio and labor productivity.
7. plant protection drone operation flight course planning method as claimed in claim 6, which is characterized in that the step (1) includes:
(a) the airborne job information acquisition device includes positioning antenna, locator and main control chip；The locator passes through two
A positioning antenna acquires the coordinate at the both ends of the spray boom of plant protection drone respectively and is sent to main control chip, and main control chip is according to plant
Protect the coordinate of the flight path point of the coordinate calculating plant protection drone at the both ends of the spray boom of unmanned plane, the seat of the flight path point
It is designated as the midpoint coordinates of two coordinate points lines of two positioning antenna detections；
(b) the airborne job information acquisition device main control unit acquisition plant protection drone inside liquid pump working condition to
Count the operation length of shift of plant protection drone；
(c) working width of the airborne job information acquisition device record plant protection drone and the operation width by plant protection drone
The wide, coordinate of flight path point and operation length of shift are sent to Cloud Server；
The step (2) includes:
According to the extending direction of the spray boom of each operation moment plant protection drone in operation length of shift and flight path line
The tracing point that the coordinate of angle, working width and flight path point calculates each operation moment in operation length of shift is corresponding
The coordinate of two sprinkling endpoints；
The sprinkling endpoint of adjacent operation moment corresponding two tracing points, obtains the sprinkling of quadrangle in connection operation length of shift
Shape calculates the area of the spray pattern of quadrangle to obtain corresponding two rails of adjacent operation moment in the shift activity duration
Spray area between mark point.
8. a kind of computer program product, which is characterized in that the computer program product operation and computer processor, operation
Plant protection drone operation flight course planning method described in Shi Shixian claim 3~7 any one.
9. a kind of terminal, which is characterized in that the terminal, which is carried, realizes plant protection drone described in claim 3~7 any one
The processor of operation flight course planning method.
10. a kind of computer readable storage medium, including instruction, when run on a computer, so that computer executes such as
Plant protection drone operation flight course planning method described in claim 3-7 any one.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111414003A (en) * | 2020-03-02 | 2020-07-14 | 广东工业大学 | Novel unmanned aerial vehicle operating system is protected to multi-functional agricultural value |
| CN111757266A (en) * | 2020-06-10 | 2020-10-09 | 广州大学 | UAV data acquisition trajectory algorithm based on solar power supply type agricultural Internet of things |
| CN112068472A (en) * | 2020-09-17 | 2020-12-11 | 湖南省蓝鹰科技有限公司 | Pesticide application agricultural machinery intelligent terminal and control system |
| CN114049051A (en) * | 2021-12-27 | 2022-02-15 | 西安迈远科技有限公司 | Plant protection unmanned aerial vehicle ground monitoring terminal based on mavlik agreement |
| CN116483128A (en) * | 2023-06-19 | 2023-07-25 | 湖南林科达信息科技有限公司 | Unmanned aerial vehicle multitasking load device conversion method and system |
| CN117413815A (en) * | 2023-12-19 | 2024-01-19 | 山东源泉机械有限公司 | Forestry plant diseases and insect pests unmanned aerial vehicle sprays treatment system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111414003A (en) * | 2020-03-02 | 2020-07-14 | 广东工业大学 | Novel unmanned aerial vehicle operating system is protected to multi-functional agricultural value |
| CN111757266A (en) * | 2020-06-10 | 2020-10-09 | 广州大学 | UAV data acquisition trajectory algorithm based on solar power supply type agricultural Internet of things |
| CN112068472A (en) * | 2020-09-17 | 2020-12-11 | 湖南省蓝鹰科技有限公司 | Pesticide application agricultural machinery intelligent terminal and control system |
| CN114049051A (en) * | 2021-12-27 | 2022-02-15 | 西安迈远科技有限公司 | Plant protection unmanned aerial vehicle ground monitoring terminal based on mavlik agreement |
| CN114049051B (en) * | 2021-12-27 | 2022-05-10 | 西安迈远科技有限公司 | Plant protection unmanned aerial vehicle ground monitoring terminal based on Mavlink agreement |
| CN116483128A (en) * | 2023-06-19 | 2023-07-25 | 湖南林科达信息科技有限公司 | Unmanned aerial vehicle multitasking load device conversion method and system |
| CN116483128B (en) * | 2023-06-19 | 2023-10-27 | 湖南林科达信息科技有限公司 | Unmanned aerial vehicle multitasking load device conversion method and system |
| CN117502196A (en) * | 2023-10-19 | 2024-02-06 | 廊坊市园林绿化事务中心 | Afforestation intelligent irrigation decision-making system and method based on unmanned aerial vehicle |
| CN117413815A (en) * | 2023-12-19 | 2024-01-19 | 山东源泉机械有限公司 | Forestry plant diseases and insect pests unmanned aerial vehicle sprays treatment system |
| CN117413815B (en) * | 2023-12-19 | 2024-03-01 | 山东源泉机械有限公司 | Forestry plant diseases and insect pests unmanned aerial vehicle sprays treatment system |
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Application publication date: 20191122 |